#include "ros/ros.h"
#include <stdio.h>
#include <phidget21.h>
#include "corobot_srvs/GetEngaged.h"
#include "corobot_srvs/SetEngaged.h"
#include "corobot_srvs/GetPosition.h"
#include "corobot_srvs/SetPosition.h"
#include "corobot_srvs/GetMotorCount.h"
#include "corobot_srvs/SetParam.h"
#include "corobot_msgs/ServoPosition.h"
#include "corobot_srvs/GetSerialNumber.h"
#include "corobot_srvs/GetType.h"
#include "corobot_srvs/SetType.h"
#include "corobot_msgs/ServoType.h"
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>

Include dependency graph for PhidgetServo.cpp:

Functions
int	ErrorHandler (CPhidgetHandle SERV, void userptr, int ErrorCode, const char Description)
	Phidget error Callback.
bool	GetEngaged (corobot_srvs::GetEngaged::Request &req, corobot_srvs::GetEngaged::Response &res)
	Get the status of a servo motor connected, to know if it is engaged ( powered on) or not.
bool	GetMotorCount (corobot_srvs::GetMotorCount::Request &req, corobot_srvs::GetMotorCount::Response &res)
	Get the maximum number of servo motors that can be connected to this Phidget Servo controller.
bool	GetPosition (corobot_srvs::GetPosition::Request &req, corobot_srvs::GetPosition::Response &res)
	Get the position of a servo motor.
bool	GetPositionMax (corobot_srvs::GetPosition::Request &req, corobot_srvs::GetPosition::Response &res)
	Get the maximum position possible of a servo motor.
bool	GetPositionMin (corobot_srvs::GetPosition::Request &req, corobot_srvs::GetPosition::Response &res)
	Get the minumum position possible of a servo motor.
bool	GetSerialNumber (corobot_srvs::GetSerialNumber::Request &req, corobot_srvs::GetSerialNumber::Response &res)
	Get the serial number of the current phidget servo controller. Useful if there are two phidget servo controllers connected.
bool	GetServoType (corobot_srvs::GetType::Request &req, corobot_srvs::GetType::Response &res)
	Get the type of servo motor pluged in.
int	main (int argc, char *argv[])
int	PositionChangeHandler (CPhidgetAdvancedServoHandle phid, void *userPtr, int index, double position)
	Each time a servo motor changes position, this function is called and a message is publish on the /phidgetServo_getPosition topic.
void	servo_diagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
bool	SetEngaged (corobot_srvs::SetEngaged::Request &req, corobot_srvs::SetEngaged::Response &res)
	Set the status of a servo motor, engaged( powered on) or not.
bool	SetPosition (corobot_srvs::SetPosition::Request &req, corobot_srvs::SetPosition::Response &res)
	Set the position of a servo motor.
void	setPositionCallback (const corobot_msgs::ServoPosition &msg)
	Callback for the topic /phidgetServo_setPosition The position of the concerned servo motor is set each time a message is received on this topic.
bool	SetServoParameters (corobot_srvs::SetParam::Request &req, corobot_srvs::SetParam::Response &res)
	Get the parameters of a servo motor.
bool	SetServoType (corobot_srvs::SetType::Request &req, corobot_srvs::SetType::Response &res)
	Set the servo motor to one of the defined types.
void	setTypeCallback (const corobot_msgs::ServoType &msg)
	Callback for the topic /phidgetServo_setType The type of the concerned servo motor is set each time a message is received on this topic.
Variables
ros::Publisher	position_pub
CPhidgetAdvancedServoHandle	servo = 0
int	servoError = 0

Function Documentation

int ErrorHandler	(	CPhidgetHandle	SERV,
		void *	userptr,
		int	ErrorCode,
		const char *	Description
	)

Phidget error Callback.

Definition at line 151 of file PhidgetServo.cpp.

bool GetEngaged	(	corobot_srvs::GetEngaged::Request &	req,
		corobot_srvs::GetEngaged::Response &	res
	)

Get the status of a servo motor connected, to know if it is engaged ( powered on) or not.

Parameters:

corobot_srvs::GetEngaged Service

Definition at line 29 of file PhidgetServo.cpp.

bool GetMotorCount	(	corobot_srvs::GetMotorCount::Request &	req,
		corobot_srvs::GetMotorCount::Response &	res
	)

Get the maximum number of servo motors that can be connected to this Phidget Servo controller.

Parameters:

Pcorobot_srvs::GetMotorCount Service

Definition at line 73 of file PhidgetServo.cpp.

bool GetPosition	(	corobot_srvs::GetPosition::Request &	req,
		corobot_srvs::GetPosition::Response &	res
	)

Get the position of a servo motor.

Parameters:

corobot_srvs::GetPosition Service

Definition at line 51 of file PhidgetServo.cpp.

bool GetPositionMax	(	corobot_srvs::GetPosition::Request &	req,
		corobot_srvs::GetPosition::Response &	res
	)

Get the maximum position possible of a servo motor.

Parameters:

corobot_srvs::GetPosition Service

Definition at line 86 of file PhidgetServo.cpp.

bool GetPositionMin	(	corobot_srvs::GetPosition::Request &	req,
		corobot_srvs::GetPosition::Response &	res
	)

Get the minumum position possible of a servo motor.

Parameters:

corobot_srvs::GetPosition Service

Definition at line 99 of file PhidgetServo.cpp.

bool GetSerialNumber	(	corobot_srvs::GetSerialNumber::Request &	req,
		corobot_srvs::GetSerialNumber::Response &	res
	)

Get the serial number of the current phidget servo controller. Useful if there are two phidget servo controllers connected.

Parameters:

corobot_srvs::GetSerialNumber Service

Definition at line 161 of file PhidgetServo.cpp.

bool GetServoType	(	corobot_srvs::GetType::Request &	req,
		corobot_srvs::GetType::Response &	res
	)

Get the type of servo motor pluged in.

Parameters:

corobot_srvs::GetType Service

Definition at line 174 of file PhidgetServo.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 229 of file PhidgetServo.cpp.

int PositionChangeHandler	(	CPhidgetAdvancedServoHandle	phid,
		void *	userPtr,
		int	index,
		double	position
	)

Each time a servo motor changes position, this function is called and a message is publish on the /phidgetServo_getPosition topic.

Definition at line 120 of file PhidgetServo.cpp.

void servo_diagnostic ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Function that will report the status of the hardware to the diagnostic topic

Definition at line 202 of file PhidgetServo.cpp.

bool SetEngaged	(	corobot_srvs::SetEngaged::Request &	req,
		corobot_srvs::SetEngaged::Response &	res
	)

Set the status of a servo motor, engaged( powered on) or not.

Parameters:

corobot_srvs::SetEngaged Service

Definition at line 42 of file PhidgetServo.cpp.

bool SetPosition	(	corobot_srvs::SetPosition::Request &	req,
		corobot_srvs::SetPosition::Response &	res
	)

Set the position of a servo motor.

Parameters:

corobot_srvs::SetPosition Service

Definition at line 64 of file PhidgetServo.cpp.

void setPositionCallback ( const corobot_msgs::ServoPosition & msg )

Callback for the topic /phidgetServo_setPosition The position of the concerned servo motor is set each time a message is received on this topic.

Parameters:

corobot_msgs::ServoPosition Message

Definition at line 137 of file PhidgetServo.cpp.

bool SetServoParameters	(	corobot_srvs::SetParam::Request &	req,
		corobot_srvs::SetParam::Response &	res
	)

Get the parameters of a servo motor.

Parameters:

corobot_srvs::SetParam Service

Definition at line 112 of file PhidgetServo.cpp.

bool SetServoType	(	corobot_srvs::SetType::Request &	req,
		corobot_srvs::SetType::Response &	res
	)

Set the servo motor to one of the defined types.

Parameters:

corobot_srvs::SetType Service

Definition at line 187 of file PhidgetServo.cpp.

void setTypeCallback ( const corobot_msgs::ServoType & msg )

Callback for the topic /phidgetServo_setType The type of the concerned servo motor is set each time a message is received on this topic.

Parameters:

corobot_msgs::ServoType Message

Definition at line 197 of file PhidgetServo.cpp.

Variable Documentation

ros::Publisher position_pub

Definition at line 22 of file PhidgetServo.cpp.

CPhidgetAdvancedServoHandle servo = 0

Definition at line 21 of file PhidgetServo.cpp.

int servoError = 0

Definition at line 23 of file PhidgetServo.cpp.

Functions

Variables

Function Documentation

Variable Documentation